Related papers: Imagination-enabled Robot Perception
This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…
Research in social robotics is commonly focused on designing robots that imitate human behavior. While this might increase a user's satisfaction and acceptance of robots at first glance, it does not automatically aid a non-expert user in…
Active perception has been employed in many domains, particularly in the field of robotics. The idea of active perception is to utilize the input data to predict the next action that can help robots to improve their performance. The main…
For robots that have the capability to interact with the physical environment through their end effectors, understanding the surrounding scenes is not merely a task of image classification or object recognition. To perform actual tasks, it…
Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…
Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…
Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…
Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…
Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…
Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…
Despite increasing research efforts on household robotics, robots intended for deployment in domestic settings still struggle with more complex tasks such as interacting with functional elements like drawers or light switches, largely due…
Visual and scalar-field (e.g., chemical) sensing are two of the options robot teams can use to perceive their environments when performing tasks. We give the first comparison of the computational characteristic of visual and scalar-field…
Active visual perception refers to the ability of a system to dynamically engage with its environment through sensing and action, allowing it to modify its behavior in response to specific goals or uncertainties. Unlike passive systems that…
Building robots that can automate labor-intensive tasks has long been the core motivation behind the advancements in computer vision and the robotics community. Recent interest in leveraging 3D algorithms, particularly neural fields, has…
Robotic research is often built on approaches that are motivated by insights from self-examination of how we interface with the world. However, given current theories about human cognition and sensory processing, it is reasonable to assume…
Aiming to understand how human (false-)belief--a core socio-cognitive ability--would affect human interactions with robots, this paper proposes to adopt a graphical model to unify the representation of object states, robot knowledge, and…
We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge…
Accurately assessing the potential value of new sensor observations is a critical aspect of planning for active perception. This task is particularly challenging when reasoning about high-level scene understanding using measurements from…
To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…